JP3418507B2 - The piezoelectric vibration control method - Google Patents

The piezoelectric vibration control method

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JP3418507B2
JP3418507B2 JP22584096A JP22584096A JP3418507B2 JP 3418507 B2 JP3418507 B2 JP 3418507B2 JP 22584096 A JP22584096 A JP 22584096A JP 22584096 A JP22584096 A JP 22584096A JP 3418507 B2 JP3418507 B2 JP 3418507B2
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piezoelectric vibrator
control
vibration
piezoelectric
frequency
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JPH1049237A (en
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晋 屋木
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ワイケイケイ株式会社
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D19/00Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
    • G05D19/02Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means

Description

【発明の詳細な説明】 【0001】 【発明の属する技術分野】この発明は、各種部品を振動により供給するパーツフィーダ等に用いられる圧電振動子の振動を制御する圧電振動制御方法に関する。 BACKGROUND OF THE INVENTION [0001] [Technical Field of the Invention The present invention relates to a piezoelectric vibration control method for controlling the vibration of the piezoelectric vibrator used for supplying the parts feeder such as various parts by vibration. 【0002】 【従来の技術】従来の例えばパーツフィーダの振動制御は、特開昭57−27808号公報に開示されているように、部品を収容して振動させながらその部品を排出するボウルを有し、このボウルの振動を、光電変換装置により検出し、これにより得られたボウルの振幅を、振幅制御回路にフィードバックして、ボウルを駆動する電磁石に供給する電流を制御し、常時一定の振幅でボウルを駆動するようにしたものである。 [0002] The vibration control of a conventional example parts feeder, as disclosed in JP-A-57-27808, have a bowl for discharging the parts while vibrating accommodates parts and the vibration of the bowl, is detected by the photoelectric conversion device, the amplitude of the bowl thereby obtained, is fed back to the amplitude control circuit controls the current supplied to the electromagnet for driving the bowl, always constant amplitude in those that were to drive the bowl. 【0003】また、特開平6−72532号公報に開示されているように、ボウルに収容された部品が振動により部品排出部からシュートに送られ、シュートを滑り落ちて組立機械に供給される際に、シュートを通過する部品を光電変換素子により検知し、部品供給する量を制御しているものもある。 [0003] Also, as disclosed in Japanese Patent Laid-Open No. 6-72532, when a component accommodated in the bowl is transmitted to the chute from the component discharge portion by the vibration, it is supplied to the assembly machine slide down chute to be sensed by the photoelectric conversion element part that passes through the chute, some of which controls the amount of parts supplied. 【0004】 【発明が解決しようとする課題】上記従来の技術の場合、電圧や温度等の外部環境の変化により供給部品の数量が変動し、安定した部品供給ができにくいという問題があった。 [0004] For THE INVENTION It is an object of the prior art described above, vary the quantity of supply components due to changes in the external environment, such as voltage and temperature, there is a problem that hardly can stable component supply. また、供給部品量を制御するために、光電変換装置等の、機械的な振動や動きを検知して電気信号に変換するセンサを装置に取り付けてフィードバック制御しているため、制御系が複雑なものとなり、装置が大型化し、コストも高くなるものであった。 In order to control the supply part amount, such as a photoelectric conversion device, since the attached feedback control device a sensor for converting into an electric signal by detecting mechanical vibration or movement is complicated control system become things, apparatus becomes large in size, was achieved cost becomes high. 【0005】この発明は上記従来の技術の問題点に鑑みて成されたもので、簡単な構成で正確な振動を行なわせることができる圧電振動子の圧電振動制御方法を提供することを目的とする。 [0005] and aims this invention to provide the above has been made in view of the problems of the prior art, the piezoelectric vibration control method of a piezoelectric vibrator that can perform accurate vibration with a simple structure to. 【0006】 【課題を解決するための手段】この発明は、所定の周波数で振動する圧電振動子と、この圧電振動子が設けられた振動装置と、この圧電振動子を駆動する駆動装置と、 [0006] According to an aspect of the present invention, a piezoelectric vibrator that vibrates at a predetermined frequency, a vibration device to which the piezoelectric vibrator is provided, and a driving device for driving the piezoelectric vibrator,
この駆動装置の駆動電流を検知する電流検出器と、上記 A current detector for detecting the driving current of the driving device, the
圧電振動子の駆動電圧を検知する電圧検知器とを有し、 And a voltage detector for detecting the driving voltage of the piezoelectric vibrator,
上記振動装置の実際の動作時の駆動周波数より低く上記振動装置がほとんど振動しない周波数で上記圧電振動子を振動させ、その時の電圧と電流及びこの電圧と電流の位相差を検出して上記振動装置の振動に関与しない電流 The piezoelectric vibrator was vibrated at the actual operating time of the frequency the vibrator lower than the driving frequency is hardly the vibration of the vibration device, the vibration device detecting the phase difference between the voltage and current and the voltage and current at that time current which does not participate in the vibration of
値のベクトルを求め 、次に実際にこの振動装置を駆動する周波数で振動させ、 そのときの上記振動装置の駆動電 Obtains a vector of values, then allowed actually vibrates at a frequency for driving the vibration device, the driving electric of the vibration device at that time
流値のベクトルを同様に求め、この駆動電流値のベクト Determined in the same manner the vector of current values, vectors of the drive current value
ルと上記振動に関与しない電流値のベクトルとの差を算出し、 この差のベクトルである電流値を一定または所望の値にするように制御する圧電振動制御方法である。 Calculating a difference between the vector of the current value which is not involved in Le and the vibration is a piezoelectric vibration control method for controlling to the current value is a vector of this difference to a constant or desired value. 【0007】またこの発明は、所定の周波数で振動する圧電振動子と、この圧電振動子が設けられた振動装置と、この圧電振動子を駆動する駆動装置と、 この駆動装 [0007] The present invention includes a piezoelectric vibrator that vibrates at a predetermined frequency, and the piezoelectric vibrator vibrating device provided is a drive device for driving the piezoelectric vibrator, the driving instrumentation
置の駆動電流を検知する電流検出器と、上記圧電振動子 A current detector for detecting the driving current of the location, the piezoelectric vibrator
の駆動電圧を検知する電圧検知器とを有し、上記振動装 And a voltage detector for detecting a driving voltage, the vibration instrumentation
置の実際の動作時の駆動周波数より低く上記振動装置が In fact of the vibration device below the drive frequency during the operation of the location is
ほとんど振動しない周波数で上記圧電振動子を振動さ Of vibrating the piezoelectric vibrator at a frequency hardly vibrate
せ、その時の電圧と電流及びこの電圧と電流の位相差を Thereby, the phase difference between the voltage and current and the voltage and current at that time
検出し、この位相差について、所定の設定値との比較を Detected, this phase difference is compared with a predetermined set value
行ない、上記位相差が設定値よりも小さい場合は上記駆 No rows, if the phase difference is smaller than the set value the drive
動周波数を上げ、大きい場合は周波数を落す制御を行な Increase the dynamic frequency, row the control of lowering the frequency is greater
う圧電振動制御方法である。 Cormorant is a piezoelectric vibration control method. 【0008】 【発明の実施の形態】以下この発明の実施の形態について図面に基づいて説明する。 DETAILED DESCRIPTION OF THE INVENTION Hereinafter embodiments of the present invention will be described with reference to the accompanying drawings. この実施形態の圧電振動制御装置は、図1に示すように、振動装置であり、各種部品を供給するパーツフィーダ10に関するもので、パーツフィーダ10とこれを駆動する駆動装置である電力増幅器12と、この電力増幅器12に駆動信号を出力する制御装置14を有している。 The piezoelectric vibration control apparatus of this embodiment, as shown in FIG. 1, a vibration device, various parts relate parts feeder 10 for supplying a power amplifier 12 is a driving device for driving the a parts feeder 10 has a controller 14 for outputting a drive signal to the power amplifier 12. パーツフィーダ10は、内部に圧電振動子を備え、この圧電振動子が電力増幅器から供給される駆動電力により振動するものである。 Parts feeder 10 is internally provided with a piezoelectric vibrator is for vibrating the drive power the piezoelectric vibrator is supplied from the power amplifier. さらに、パーツフィーダ10は、電圧検出器16、電流検出器18に接続され、電圧検出器16、電流検出器18の出力が制御装置14に入力している。 Furthermore, the parts feeder 10, the voltage detector 16 is connected to the current detector 18, voltage detector 16, the output of the current detector 18 is input to the control device 14. 【0009】また、パーツフィーダ10の圧電振動子の振幅を設定する振幅電流設定器20の出力が制御装置1 Further, the output control device for amplitude current setter 20 for setting the amplitude of the piezoelectric vibrator part feeder 10 1
4に接続されている。 It is connected to the 4. さらに、後述の第二実施形態のように、周波数制御を行なわせる場合には、周波数または振幅位相を設定する設定器22の出力も制御装置14に接続する。 Furthermore, as in the second embodiment described later, when to perform frequency control, also connected to the control unit 14 outputs the setting device 22 for setting a frequency or amplitude phase. 【0010】この実施形態の圧電振動制御装置の制御方法は、図3に示すように、先ず、実際の駆動周波数より低くパーツフィーダ10がほとんど振動しない周波数f [0010] The method of the piezoelectric vibration control apparatus of this embodiment, as shown in FIG. 3, first, hardly vibration parts feeder 10 lower than the actual driving frequency frequency f
aでパーツフィーダ10の圧電振動子を振動させ、その時の電圧Vaと電流Ia及びこの電圧Vaと電流Iaの位相差θを検出する。 To vibrate the piezoelectric vibrator of the parts feeder 10 in a, to detect the phase difference θ of the voltage Va and current Ia and the voltage Va and current Ia at that time. このときの電流Iaは、振動が生じないため、図2に示すように振動に関与しない電流とほぼ等しい。 Current Ia in this case, since the vibration is not generated, substantially equal to the current which does not participate in the vibration as shown in FIG. 次に実際にこのパーツフィーダ10を駆動する周波数fbで圧電振動子を振動させ、上記検出した電圧Va、電流Ia及び位相差θから、上記実際の振動に関与しない電流値Ib を求め、この電流値Ib から上記駆動時の振動に関与している電流値Ib を算出する。 Next to vibrate the piezoelectric vibrator actually at a frequency fb for driving the parts feeder 10, the detected voltages Va, the current Ia and a phase difference theta, obtains a current value Ib 0 which is not involved in the actual vibration above, this from the current value Ib 0 to calculate the current value Ib 1 involved in vibration during the drive. この算出は以下の式により求める。 This calculation is obtained by the following equation. 【0011】 Ib =Vb・fb/(Va・fa)・Ia (1) ここで、電流Ib 、Iaはベクトルである。 [0011] Ib 0 = Vb · fb / ( Va · fa) · Ia (1) where the current Ib 0, Ia is a vector. 【0012】(1)式より振動に関与する電流Ib はIb =Ib−Ib (2) となり、図4に示すように、ベクトルでIb を求めることができる。 [0012] (1) current Ib 1 involved in vibrations from formula Ib 1 = Ib-Ib 0 ( 2) next, as shown in FIG. 4, can be obtained Ib 1 vector. 図4において、IbはIb とIb In FIG. 4, Ib and Ib 0 and Ib 1
の合成ベクトルであり、Vbは、Ibに対応する電圧で A resultant vector of, Vb is the voltage corresponding to Ib
ある。 is there. 【0013】以上のように求めた電流値Ib を、部品の排出に最も効率よく安定した振幅となるように調整する。 [0013] The current value Ib 1 obtained as described above is adjusted so that most efficient stable amplitude to the discharge of the components. この振幅は、パーツフィーダ10の場合、小さ過ぎると部品の移動が少なく排出個数が少なくなって効率が悪く、振幅が大き過ぎると、部品の整列過程で部品が落ちてしまい、やはり排出個数が減ってしまう。 This amplitude, when the parts feeder 10, less efficient becomes small discharge quantity is moving too small reduce component the amplitude is too large, would be fallen parts alignment process components, reduced is also discharged number and will. 従って、 Therefore,
各部品により効率よく搬送し排出可能な振幅に設定する必要がある。 It must be set to efficiently transport and capable of discharging amplitude by each component. そして、この振幅と、振動電流Ib はほぼリニアな相関関係にあり、振動電流値Ib を制御することにより正確な振幅制御を行なうことができる。 Then, the amplitude, vibration current Ib 1 is substantially linear correlation, it is possible to perform an accurate amplitude control by controlling the vibration current Ib 1. 【0014】そして振動電流Ib の制御方法は、図3 [0014] The control method of the oscillating current Ib 1 is, FIG. 3
に示すように、求めた振動電流Ib の値が設定値よりも小さい場合は、駆動電圧を上げ、振動電流Ib の値が設定値よりも大きい場合は、駆動電圧を下げる。 As shown, when the value of the oscillating current Ib 1 obtained is smaller than the set value, increasing the driving voltage, if the value of the vibration current Ib 1 is larger than the set value, lowering the driving voltage. そしてこの制御を続けることにより、振幅を最適値に制御することができる。 Then, by continuing this control, it is possible to control the amplitude to the optimum value. 【0015】この実施形態の圧電振動制御方法によれ [0015] According to the piezoelectric vibration control method of this embodiment
、機械的振動を検知して電気信号に変換するセンサを用いることなく、圧電振動子の駆動電流を基に電気信号のまま制御対象を検知し駆動電圧を制御するものであり、構成が簡単で正確な振幅制御が可能となるものである。 If, without using a sensor for converting into an electric signal by detecting mechanical vibrations is to control the detected drive voltage controlled object remains electrical signal based on the driving current of the piezoelectric vibrator, simple configuration in those that accurate amplitude control can be performed. 【0016】次に、この発明の圧電振動制御装置の第二実施の形態について、図5を基にして説明する。 [0016] Next, a second embodiment of the piezoelectric vibration control apparatus of the present invention will be described based on FIG. この実施の形態の圧電振動制御方法と装置は、上記第一実施形態と同様の装置で、図5に示す制御を行なうものである。 The piezoelectric vibration control method and apparatus of this embodiment, in the same apparatus as the first embodiment, and performs the control shown in FIG. この制御方法は、上記実施形態と同様に、実際の駆動周波数より低くパーツフィーダ10がほとんど振動しない周波数faでパーツフィーダ10の圧電振動子を振動させ、その時の電圧Vaと電流Ia及びこの電圧Va This control method is similar to the above embodiment, to vibrate the piezoelectric vibrator of the parts feeder 10 with little vibration parts feeder 10 lower than the actual driving frequency frequency fa, the voltage Va and current Ia and the voltage Va at that time
と電流Iaの位相差θを検出する。 Detecting the phase difference θ of the current Ia with. そして、この位相差θについて、所定の設定値との比較を行ない、位相差θ Then, this phase difference theta, performs comparison with a predetermined set value, the phase difference theta
が設定値よりも小さい場合は、駆動周波数を上げ、大きい場合は周波数を落す制御を行なうものである。 No. is less than the set value, increasing the driving frequency, when a large performs a control for lowering the frequency. 【0017】これは、駆動電力の振動に対して共振点での圧電振動子の振動は90°位相が遅れ、また振動に関与する振動電流Ib の位相は同じであるということを利用したものである。 The thing which is vibration of the piezoelectric vibrator at the resonance point with respect to the vibration of the driving power is a delay 90 ° phase, also oscillating current Ib 1 phase involved in vibration utilizing the fact that the same it is. 従って、この位相のずれを検知して駆動信号の周波数を制御することにより、周波数を一定に制御することができる。 Thus, by controlling the frequency of the drive signal by detecting a deviation of the phase, it is possible to control the frequency constant. 【0018】なお、圧電振動子が自励振型の場合は、振動電流Ib の位相が駆動電流の位相に対して90°位相が遅れるようにすれば、正確な振動が可能となる。 [0018] In the case the piezoelectric vibrator of the self-excited type, if as the phase of the oscillating current Ib 1 is 90 ° phase lags behind the phase of the driving current, it is possible to correct vibration. この場合、設定器22は、振幅位相を設定するものである。 In this case, setting unit 22 is for setting the amplitude and phase. また、圧電振動子が他励振型の場合は、使用者が所定の周波数を設定するものであるが、この場合も、振動電流の位相検出により正確な位相制御が可能となる。 Further, the piezoelectric vibrator in the case of other excitation type, although the user is to set a predetermined frequency, also in this case, it is possible to correct the phase control by the phase detection of the oscillating current. そして周波数は、設定器22により設定する。 The frequency is set by the setting device 22. 【0019】この実施の形態によっても上記と同様に、 [0019] Similar to the above also by the embodiments,
複雑なセンサを用いることなく、正確な周波数制御が可能となる。 Without using a complex sensor allows the precise frequency control. 【0020】尚、この発明は上記実施の形態に限定されず、用途はパーツフィーダの他、圧電振動子を用いた装置全般に利用可能なものである。 [0020] The present invention is not limited to the above embodiments, applications other parts feeder, but available to all devices using a piezoelectric oscillator. 【0021】 【発明の効果】この発明の圧電振動制御方法は 、機械的振動を検知するセンサを用いることなく、駆動電流を元に直接振動を制御するものであり、構成が簡単であり、 [0021] [Effect of the Invention] piezoelectric vibration control method of the present invention, without using a sensor for detecting mechanical vibrations is to control the direct vibration based on a driving current, the configuration is simple,
正確な制御が可能となるものである。 In which accurate control is possible.

【図面の簡単な説明】 【図1】この発明の第一実施の形態の圧電振動制御装置の概略回路図である。 BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic circuit diagram of a piezoelectric vibration control device of the first embodiment of the present invention. 【図2】この実施形態のパーツフィーダの電流及び加速度周波数特性を示す図である。 2 is a diagram showing a current and acceleration frequency characteristics of the parts feeder of this embodiment. 【図3】この実施形態の圧電振動制御装置の制御内容を示すフローチャートである。 3 is a flow chart showing the control contents of the piezoelectric vibration control apparatus of this embodiment. 【図4】この実施形態の圧電振動制御装置の制御における電流値のベクトル図である。 4 is a vector diagram of a current value in the control of the piezoelectric vibration control apparatus of this embodiment. 【図5】この発明の第二実施の形態の圧電振動制御装置の制御内容を示すフローチャートである。 5 is a flow chart showing the control contents of the piezoelectric vibration control device of the second embodiment of the present invention. 【符号の説明】 10 パーツフィーダ14 制御装置16 電圧検出器18 電流検出器 [Description of reference numerals] 10 parts feeder 14 the controller 16 a voltage detector 18 current detector

───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl. 7 ,DB名) G05D 19/02 B06B 1/06 B65G 27/32 ────────────────────────────────────────────────── ─── of the front page continued (58) investigated the field (Int.Cl. 7, DB name) G05D 19/02 B06B 1/06 B65G 27/32

Claims (1)

  1. (57)【特許請求の範囲】 【請求項1】 所定の周波数で振動する圧電振動子と、 Claims (57) as claimed in claim 1] and the piezoelectric vibrator to vibrate at a predetermined frequency,
    この圧電振動子が設けられた振動装置(10)と、この圧電振動子を駆動する駆動装置(12)と、 この駆動装 The piezoelectric vibrator vibrating device is provided with (10), a drive device for driving the piezoelectric vibrator (12), the driving instrumentation
    置(12)の駆動電流を検知する電流検出器(20) A current detector for detecting the driving current of the location (12) (20)
    と、上記圧電振動子の駆動電圧を検知する電圧検知器 When a voltage detector for detecting the driving voltage of the piezoelectric vibrator
    (16)とを有し、 上記振動装置(10)の実際の動作 (16) and a, actual operation of the vibration device (10)
    時の駆動周波数より低く上記振動装置(10)がほとんど振動しない周波数で上記圧電振動子を振動させ、その時の電圧と電流及びこの電圧と電流の位相差を検出して The piezoelectric vibrator is vibrated at a frequency above the vibration device below the drive frequency (10) hardly vibrate when, by detecting the phase difference between the voltage and current and the voltage and current at that time
    上記振動装置(10)の振動に関与しない電流値のベク Vector of the current value that is not involved with the vibration of the vibration device (10)
    トルを求め 、次に実際にこの振動装置(10)を駆動する周波数で振動させ、 そのときの上記振動装置(10) Seeking torr, then allowed actually vibrates at a frequency for driving the vibration device (10), the vibration device at that time (10)
    の駆動電流値のベクトルを同様に求め、この駆動電流値 Determined in the same manner the vector of the drive current value, the drive current value
    のベクトルと上記振動に関与しない電流値のベクトルと Vector and the vector of the current value which is not involved in the vibration of the
    の差を算出し、この差のベクトルである電流値を所定の値にするように制御する圧電振動制御方法。 The piezoelectric vibration control method for controlling such a difference was calculated, and the current value is a vector of this difference to a predetermined value. 【請求項2】 所定の周波数で振動する圧電振動子と、 2. A piezoelectric vibrator that vibrates at a predetermined frequency,
    この圧電振動子が設けられた振動装置(10)と、この圧電振動子を駆動する駆動装置(12)と、 この駆動装 The piezoelectric vibrator vibrating device is provided with (10), a drive device for driving the piezoelectric vibrator (12), the driving instrumentation
    置(12)の駆動電流を検知する電流検出器(20) A current detector for detecting the driving current of the location (12) (20)
    と、上記圧電振動子の駆動電圧を検知する電圧検知器 When a voltage detector for detecting the driving voltage of the piezoelectric vibrator
    (16)とを有し、上記振動装置(10)の実際の動作 (16) and a, actual operation of the vibration device (10)
    時の駆動周波数より低く上記振動装置(10)がほとん The vibration device below the drive frequency at (10) Gahoton
    ど振動しない周波数で上記圧電振動子を振動させ、その At a frequency not throat vibrations to vibrate the piezoelectric vibrator, the
    時の電圧と電流及びこの電圧と電流の位相差を検出し、 Detecting a phase difference between the voltage and current and the voltage and current at the time,
    この位相差について、所定の設定値との比較を行ない、 This phase difference, performs a comparison with a predetermined set value,
    上記位相差が設定値よりも小さい場合は上記駆動周波数 If the phase difference is smaller than the set value the driving frequency
    を上げ、大きい場合は周波数を落す制御を行なう圧電振 The raising, if large piezoelectric vibration performs control lowering the frequency
    動制御方法 Dynamic control method.
JP22584096A 1996-08-07 1996-08-07 The piezoelectric vibration control method Expired - Fee Related JP3418507B2 (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
JP22584096A JP3418507B2 (en) 1996-08-07 1996-08-07 The piezoelectric vibration control method
DE1997613459 DE69713459D1 (en) 1996-08-07 1997-07-16 Method and apparatus for controlling piezoelectric vibration
DE1997613459 DE69713459T2 (en) 1996-08-07 1997-07-16 Method and apparatus for controlling piezoelectric vibration
EP19970305310 EP0823680B1 (en) 1996-08-07 1997-07-16 Method and apparatus for controlling piezoelectric vibration
TW86110948A TW378288B (en) 1996-08-07 1997-07-31 Method and apparatus for controlling piezoelectric vibration
US08/905,401 US5910698A (en) 1996-08-07 1997-08-04 Method and apparatus for controlling piezoelectric vibration
KR1019970037329A KR100249339B1 (en) 1996-08-07 1997-08-05 Method and apparatus for controlling piezoelectric vibration
CNB971161615A CN1146520C (en) 1996-08-07 1997-08-06 Method and apparatus for controlling piezoelectric vibration
HK98109583A HK1008797A1 (en) 1996-08-07 1998-07-31 Method and apparatus for controlling piezoelectric vibration

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JP3418507B2 true JP3418507B2 (en) 2003-06-23

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DE (2) DE69713459D1 (en)
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JPH1049237A (en) 1998-02-20
CN1146520C (en) 2004-04-21
EP0823680A2 (en) 1998-02-11
KR100249339B1 (en) 2000-03-15
KR19980018378A (en) 1998-06-05
HK1008797A1 (en) 2004-09-17
US5910698A (en) 1999-06-08
TW378288B (en) 2000-01-01
CN1182229A (en) 1998-05-20
DE69713459T2 (en) 2003-01-23
EP0823680A3 (en) 1998-04-22
EP0823680B1 (en) 2002-06-19
DE69713459D1 (en) 2002-07-25

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